【作者】 周辉军；

【导师】 周东辉；

【作者基本信息】 中国海洋大学 ， 通信与信息系统， 2007， 硕士

【摘要】 自治式水下机器人(Autonomous Underwater Vehicle)的运动控制方法研究是AUV技术的主要课题之一。AUV运动特点有:高度非线性、强耦合、时变和不确定性、受流、浪等工作环境的干扰大、工作半径大、航速调节范围大等。因而要求控制系统能满足上述因素的变化,有强鲁棒性和自适应性,有足够的运动控制精度,这对水下机器人运动控制系统的设计提出了很高的要求。模糊控制技术广泛应用于不确定性、非线性等复杂系统的控制中。本论文旨在探讨模糊控制在水下机器人运动控制中的应用,并设计出性能优良的水下机器人运动控制系统。本文根据仿真需要和控制器设计要求对AUV运动模型进行了适当简化,得到了AUV六自由度运动模型。建模过程中主要考虑了海流对于水下机器人的影响,研究了水下机器人的流体力学特性以提高模型精度。考虑到水下机器人的运动特点,采用模糊控制方法进行运动控制,在空间运动模型的基础上设计了模糊控制器,考虑到水下机器人线速度运动与角速度运动之间的不同,针对两种运动采用不同的控制规则,设计不同的运动控制器。最后通过计算机仿真验证了控制器的可行性和有效性。更多还原

【Abstract】 The research on how to acquire stable movement of the vehicle is one of the most important subjects to the real application of the Autonomous Underwater Vehicle. There are several characteristics when AUV is moving:high nonlinearity of dynamic model, unpredictable operating environment, time-vary and unpredictable system;large working radius, large spectrum of speed and so on. The control system must adapt to such factors, and it must be robust , self-adaptive and high precision .So it’s a big challenge to design a good performance motion control system。Up to now, fuzzy control technology has been applied widely in the uncertain and nonlinear system. In this thesis, we aimed at the application of the fuzzy technology in the motion control and try to design a good control system for the underwater vehicle.Based on the need of practice and the convenience of designing the controller the model is properly simplified into the dynamic model with 6 directions of freedom. It must take ocean current into consideration when modeling, so we have to study hydrodynamics. Given the characteristics of the environment when the AUV is moving, it’s suitable to use fuzzy control theory, on the base of introduction of fundamental and previous model, It is time to design fuzzy controller. Given the differences between linear and angular movement, It has to design different movement controller .The simulation results prove the controllers are reliable and feasible.更多还原